fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 04:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

imxrt dshot timing fix (#23365)

Browse Source 
* imxrt: Change PLL settings for more accurate dshot timing
* Update NuttX submodule
This commit is contained in:
Peter van der Perk
2024-07-08 12:57:15 -04:00
committed by GitHub
parent 77709c2948
commit 6bd81f38a6
4 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c
+2 -3
View File
@@ -46,7 +46,6 @@
#include "arm_internal.h"
#define FLEXIO_BASE IMXRT_FLEXIO1_BASE
#define FLEXIO_PREQ 120000000
#define DSHOT_TIMERS FLEXIO_SHIFTBUFNIS_COUNT
#define DSHOT_THROTTLE_POSITION 5u
#define DSHOT_TELEMETRY_POSITION 4u
@@ -305,8 +304,8 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
{
/* Calculate dshot timings based on dshot_pwm_freq */
dshot_tcmp = 0x2F00 | (((FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2)) & 0xFF);
bdshot_tcmp = 0x2900 | (((FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 1) & 0xFF);
dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF);
bdshot_tcmp = 0x2900 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 3) & 0xFF);
/* Clock FlexIO peripheral */
imxrt_clockall_flexio1();